cam_infer_models/include/dataStructures.h

#ifndef dataStructures_h
#define dataStructures_h

#include <vector>
#include <opencv2/core.hpp>


struct BoundingBox { // bounding box around a classified object (contains both 2D and 3D data)
    
    int boxID; // unique identifier for this bounding box
    int trackID; // unique identifier for the track to which this bounding box belongs
    
    cv::Rect roi; // 2D region-of-interest in image coordinates
    int classID; // ID based on class file provided to YOLO framework
    double confidence; // classification trust
};

struct DataFrame { // represents the available sensor information at the same time instance
    
    cv::Mat cameraImg_l; // left camera image
    cv::Mat cameraImg_c; // center camera image
    cv::Mat cameraImg_r; // right camera image

    std::vector<BoundingBox> boundingBoxes; // ROI around detected objects in 2D image coordinates
};

#endif /* dataStructures_h */